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Pre-Commit (#4915)
* Add pre-commit Signed-off-by: Nils-ChristianIseke <[email protected]> * Add codespell workflow Signed-off-by: Nils-ChristianIseke <[email protected]> * Codespell write_changes=false. As otherwise CI does not fail. Signed-off-by: Nils-ChristianIseke <[email protected]> * Configure isort Signed-off-by: Nils-ChristianIseke <[email protected]> * add precommit Signed-off-by: Nils-ChristianIseke <[email protected]> * Introducing some issues. Signed-off-by: Nils-ChristianIseke <[email protected]> * Revert "Introducing some issues." This reverts commit 5377b65. Signed-off-by: Nils-ChristianIseke <[email protected]> * Removing pre-commit workflow. Signed-off-by: Nils-ChristianIseke <[email protected]> * Fix formatting error Signed-off-by: Nils-ChristianIseke <[email protected]> * Merge remote-tracking branch 'origin/main' into precommit Signed-off-by: Nils-ChristianIseke <[email protected]> * Change v31 to v32 Signed-off-by: Nils-ChristianIseke <[email protected]> * Revert "Merge remote-tracking branch 'origin/main' into precommit" This reverts commit 8a7ca39. Signed-off-by: Nils-ChristianIseke <[email protected]> * Rm submodule Signed-off-by: Nils-ChristianIseke <[email protected]> * pre-commit run --all after merge Signed-off-by: Nils-ChristianIseke <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]>
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‎.devcontainer/caddy/srv/assets/foxglove/nav2_layout.json

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"direction": "row",
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"splitPercentage": 74.87855655794587
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}
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}
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}

‎.devcontainer/caddy/srv/nav2/github-markdown.css

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.markdown-body ::-webkit-calendar-picker-indicator {
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filter: invert(50%);
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}
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}

‎.github/mergify.yml

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backport:
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branches:
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- jazzy
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- name: backport to iron at reviewers discretion
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conditions:
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- base=main
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backport:
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branches:
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- iron
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- name: backport to humble at reviewers discretion
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conditions:
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- base=main

‎.github/workflows/codespell.yml

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name: Codespell
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on:
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pull_request:
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jobs:
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codespell:
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name: Run codespell
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Install codespell
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run: pip install codespell
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- name: Run codespell
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run: codespell --toml ./tools/pyproject.toml

‎.gitignore

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# Vim Temporary
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.netrwhist
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‎.pre-commit-config.yaml

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# To use:
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#
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# pre-commit run -a
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#
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# Or:
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#
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# pre-commit install # (runs every time you commit in git)
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#
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# To update this file:
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#
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# pre-commit autoupdate
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#
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# See https://github.com/pre-commit/pre-commit
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exclude: ".pgm$|.svg$"
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repos:
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v5.0.0
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hooks:
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- id: check-added-large-files
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- id: check-ast
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- id: check-case-conflict
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- id: check-merge-conflict
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- id: check-symlinks
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- id: check-xml
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- id: check-yaml
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args: ["--allow-multiple-documents"]
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- id: debug-statements
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- id: end-of-file-fixer
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- id: forbid-submodules
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- id: mixed-line-ending
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- id: trailing-whitespace
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exclude_types: [rst]
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- id: fix-byte-order-marker
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- repo: https://github.com/pycqa/isort
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rev: 6.0.1
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hooks:
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- id: isort
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args: ["tools/pyproject.toml"]
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name: isort (python)
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- repo: https://github.com/codespell-project/codespell
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rev: v2.4.1
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hooks:
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- id: codespell
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additional_dependencies:
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- tomli
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args:
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[--toml=./tools/pyproject.toml]
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- repo: https://github.com/python-jsonschema/check-jsonschema
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rev: 0.31.1
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hooks:
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- id: check-github-workflows
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args: ["--verbose"]
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- id: check-github-actions
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args: ["--verbose"]
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- id: check-dependabot
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args: ["--verbose"]
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- repo: local
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hooks:
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- id: ament_lint_cmake
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name: ament_lint_cmake
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description: Check CMake code style using cmakelint.
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language: system
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types: [cmake]
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entry: ament_lint_cmake
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- id: ament_cpplint
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name: ament_cpplint
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description: Code style checking using cpplint.
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language: system
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types: [c++]
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entry: ament_cpplint
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- id: ament_uncrustify
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name: ament_uncrustify
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description: Code style checking using uncrustify.
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language: system
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types: [c++]
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args: ["--reformat"]
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entry: ament_uncrustify
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- id: ament_xmllint
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name: ament_xmllint
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description: Check XML markup using xmllint.
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language: system
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types: [xml]
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entry: ament_xmllint
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- id: ament_flake8
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name: ament_flake8
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description: Check Python code style using flake8.
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language: system
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types: [python]
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entry: ament_flake8
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- id: ament_pep257
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name: ament_pep257
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description: Check Python code style using pep257.
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language: system
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types: [python]
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entry: ament_pep257

‎Dockerfile

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# install demo dependencies
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ros-$ROS_DISTRO-rviz2
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ros-$ROS_DISTRO-rviz2
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‎README.md

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‎doc/development/codespaces.md

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# References
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TODO: links to more info
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TODO: links to more info

‎doc/requirements/_template_requirement.md

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## More details
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- Why is this needed?
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- What is the expected user interaction?
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- What is the expected user interaction?
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- What use case does this map to?
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- Are there any non-functional requirements (build system, tools, performance, etc)
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‎doc/requirements/requirements.md

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TP001 | Target Platforms.Operating Systems.Ubuntu | 1 | The Navigation System MUST support Ubuntu Desktop 16.04 and Ubuntu Desktop 18.04
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TP002 | Target Platforms.Operating Systems.MacOS | 1 | The Navigation System MUST support MacOS 10.13 (High Sierra) and MacOS 10.14 (Mohave)
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TP003 | Target Platforms.Operating Systems.Windows | 1 | The Navigation System MUST support Windows 10 Professional
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TP004 | Target Platforms.Operating Systems.Clear Linux | 1 | The Navigation System SHOULD support the Intel's Clear Linux distribution | Clear Linux uses a continuous deployment model.
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TP004 | Target Platforms.Operating Systems.Clear Linux | 1 | The Navigation System SHOULD support the Intel's Clear Linux distribution | Clear Linux uses a continuous deployment model.
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TP005 | Target Platforms.CPU.Word Size | 1 | The Navigation System SHALL support 64-bit processors | Don't assume a specific pointer size
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TP006 | Target Platforms.Minimum Platform | 1 | *TODO: Should we specify a minimum target platform? Or, should this be expressed as minimum platform requirements?*
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MP006 | Mission Planning.Navigation Commands.Follow | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to be able to follow another specified robot. | This one doesn't have a completion state (reaching the goal), unless it specifies additional information such as "follow until destination reached."
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MP007 | Mission Planning.Navigation Commands.Maintain Pose | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to maintain its current pose. | Could be indefinite or time-based.
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MP008 | Mission Planning.Navigation Commands.Park | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to park itself. | The implementation of the parking command could interact with the robot to cause it, for example, to shut down or enter a low-power state.
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MP009 | Mission Planning.Navigation Commands.Dock to Charger | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to dock to a specific charging station.
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MP009 | Mission Planning.Navigation Commands.Dock to Charger | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to dock to a specific charging station.
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MP010 | Mission Planning.Policy | 1 | The Mission Plan SHOULD be able to express information about how and when the navigation commands are to be carried out. | Time and safety constraints.
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MP011 | Mission Planning.Policy.Time.Initiation | 1 | The Mission Plan SHOULD be able to convey when a mission should begin.
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MP012 | Mission Planning.Policy.Time.Completion | 1 | The Mission Plan SHOULD be able to convey by when a mission should end.
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PLN003 | Planning.Inputs.Policy | 1 | The Planning Module SHALL receive policy information associated with the Navigation Command to execute. | This could be global policy and/or per-command policy. Policy could contain, for example, a list of conventions for the robot to follow (navigate on the right side of a path, for example).
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PLN004 | Planning.Inputs.Mapping.Maps | 1 | The Planning Module MUST have access to one or more maps available that describe the robot's environment.
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PLN005 | Planning.Inputs.Perception.Sensory Input | 1 | The Planning Module MUST have access to data from the Perception Subsystem.
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PLN006 | Planning.Inputs.Prediction.Predicted Trajectories | 1 | The Planning Module MAY have access to predicted trajectories of objects detected by the Perception Subsystem. | In simple planners, there is no prediction of moving objects, but in more complex planners, this may be considered.
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PLN006 | Planning.Inputs.Prediction.Predicted Trajectories | 1 | The Planning Module MAY have access to predicted trajectories of objects detected by the Perception Subsystem. | In simple planners, there is no prediction of moving objects, but in more complex planners, this may be considered.
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PLN007 | Planning.Inputs.Localization.Current Pose | 1 | The Planning Module MUST have access to the robot's current pose. | The pose could be be provided manually or automatically determined (outside of this module).
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PLN008 | Planning.Outputs.Path | 1 | The Planning Module SHOULD output the Path for the robot to follow to execute the input Navigation Command and MUST respect any associated policy.
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PLN009 | Planning.Feedback.Inputs | 1 | The Planning Module MAY receive error input from the downstream Execution Module. | So that it can attempt to recover from execution failures.
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The Prediction Subsystem uses input from the Perception Subsystem and predicts the trajectories of the detected objects over time.
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Id | Handle | Priority | Description | Notes
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* What are the scalability for the ROS2 Navigation System?
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* Any other important design goals to call out?
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* Should we specify a minimum target platform? Or, should this be expressed as minimum platform requirements?
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* What is the right latency value for detecting a collision?
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* Should we add any safety-related functionality at the robot interface level?
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* What is the right latency value for detecting a collision?
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* Should we add any safety-related functionality at the robot interface level?
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* Do safety zones need unique names?
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* How far into the future should the object prediction work?

‎doc/use_cases/README.md

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‎doc/use_cases/_template_use_case.md

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## More details
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# Example:
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‎doc/use_cases/collision_avoidance_use_case.md

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‎doc/use_cases/indoor_localization_use_case.md

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‎doc/use_cases/indoor_navigation_use_case.md

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‎doc/use_cases/keep_out_zones_use_case.md

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# Keep Out Zones
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As a Robot user I want to be able to designate keep-out zones or areas on a map so that my robot will go around those areas instead of through them
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‎doc/use_cases/multi-story-building_use_case.md

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‎doc/use_cases/outdoor_localization_use_case.md

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‎doc/use_cases/outdoor_navigation_use_case.md

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‎nav2_behavior_tree/README.md

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See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-bt-xml.html) for additional parameter descriptions and a list of XML nodes made available in this package. Also review the [Nav2 Behavior Tree Explanation](https://docs.nav2.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package. A [tutorial](https://docs.nav2.org/plugin_tutorials/docs/writing_new_bt_plugin.html) is also provided to explain how to create a simple BT plugin.
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‎nav2_behavior_tree/plugins_list.hpp.in

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// This was automativally generated by cmake
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{
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‎nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp

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‎nav2_behaviors/README.md

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The `AssistedTeleop` behavior makes use of a [nav2_util::TwistSubscriber](../nav2_util/README.md#twist-publisher-and-twist-subscriber-for-commanded-velocities).

‎nav2_bringup/launch/bringup_launch.py

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